The town was originally called Wheelersborough after its original settler, Benjamin Wheeler. It was incorporated on February 24, 1794, and named after the English patriot John Hampden.

According to the US census, the town has a total area of 39.0 square miles, of which, 38.1 square miles is land and 0.9 square miles(2.36%) is water. It is drained by the Souadabscook Stream and Penobscot River.

As of the 2000 census, there were 6,327 people, 2,433 households, and 1,802 families residing in the town. The population density was 166.1 people per square mile. There were 2,545 housing units at an average density of 66.8 per square mile.

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